Parameter Block - Mitsubishi Electric MR-MQ100 User Manual

8 PARAMETERS FOR POSITIONING CONTROL

8.2 Parameter Block

No. Item
mm
Setting range Units Setting range Units Setting range
Interpolation
1 control unit 0
(Note-2)
0.01 to
2 Speed limit value
6000000.00
3 Acceleration time
4 Deceleration time
Rapid stop
5
deceleration time
6 S-curve ratio
7 Torque limit value
Deceleration
0 : Deceleration stop is executed based on the deceleration time.
8 processing on
1 : Deceleration stop is executed based on the rapid stop deceleration time.
STOP input
Allowable error
range for circular
9 0 to 10000.0
interpolation
(Note-2)
(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].
However, setting range of 0.001 to 2147483.647[degree/min] is displayed in the parameter block setting screen of programming software.
(Note-2): The setting value is invalid in Real mode.
(1) Parameter blocks allow for easy setting changes by allowing data such as
acceleration/deceleration control to be set once and then reused for multiple
positioning processes.
(2) A maximum of 64 parameter blocks can be created.
(3) Parameter blocks can be set using MT Developer2.
(4) Parameter block parameters available are shown in Table 8.2.
(5) Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming
Manual (REAL MODE)" for details.
Table 8.2 Parameter Block Setting List
Setting range
inch
1
0.001 to
mm/ 0.001 to inch/
2147483.647
min 600000.000 min
(Note-1)
1 to 65535[ms]
1 to 65535[ms]
1 to 65535[ms]
0 to 100[%]
1 to 1000[%]
µ m
0 to 1.00000 inch 0 to 1.00000 degree 0 to 100000
POINT
(1) Parameter blocks are specified in the home position return data, JOG operation
data or servo program.
(2) The various parameter block data can be changed using the servo program.
degree PLS
Units Setting range Units
2 3
1 to PLS/
degree/
2147483647 s
min
8 - 2
Initial
Units
value
• Set the units for compensation control.
• It can be also used as the units for the
3 command speed and allowable error
range for circular interpolation set in the
servo program.
• Set the maximum speed for
positioning/home position return.
PLS/ • If the positioning speed or home position
200000
s return speed setting exceeds the speed
limit value, control is executed at the
speed limit value.
• Set the time taken to reach the speed
1000
ms
limit value from the start of motion.
• Set the time taken to stop from the
1000 ms
speed limit value.
• Set the time taken to stop from the
1000 ms
speed limit value when a rapid stop is
executed.
• Set the S-curve ratio for S-pattern
processing.
0 % • When the S-curve ratio is 0[%],
trapezoidal acceleration/deceleration
processing is executed.
• Set the torque limit value in the servo
300 %
program.
• Set the deceleration processing when
0 external signals (STOP, FLS, RLS) are
input.
• Set the permissible range for the locus of
PL the arc and the set end point
100 PLS
S coordinates.
Remarks